• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.207-213
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• 2005

This paper deals with an autonomous flight guidance and control algorithm design for TR301 tilt-rotor airplane under development by Korea Aerospace Research Institute for simulation purpose. The objective of this study is to design autonomous flight algorithm in which the tilt-rotor airplane should follow the given waypoints precisely. The approach to this objective in this study is that, first of all, model-based inversion is applied to the highly nonlinear tilt-rotor dynamics, where the tilt-rotor airplane is assumed to fly at helicopter flight mode(nacelle angle=0 deg), and then the control algorithm, based on classical control, is designed to satisfy overall system stabilization and precise waypoint following performance. Especially, model uncertainties due to the tiltrotor model itself and inversion process are adaptively compensated in a simple neural network(Sigma-Phi NN) for performance robustness. The designed algorithm is evaluated in the tilt-rotor nonlinear airplane in helicopter flight mode to analyze the following performance for given waypoints. The simulation results show that the waypoint following responses for this algorithm are satisfactory, and control input responses are within control limits without saturation.

• Journal of Power Electronics
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• v.7 no.2
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.49-56
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• 2023

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

• Proceedings of the Korean Nuclear Society Conference
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• 1999.10a
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• pp.133-133
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• 1999

• Korean journal of food and cookery science
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• v.7 no.4
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• pp.1-7
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• 1991

The object of this study was to investigate the enzyme system in kimchi during fermentation. The results were as follows; 1. Pectinesterase (PE) activity initially increased, following a decrease in kimchi juice but progressively decreased in kimchi solid. 2. Polygalacturonase(PG) activity in kimchi juice initially increased following a decrease near to absence and then increased again. PG activity in kimchi solid, initially decreased following a increase. 3. Peroxidase (POD) activity in kimchi juice initially increased, following a decrease and that in kimchi solid progressively decreased. 4. The activity of ascorbic acid oxidase(AAO) in kimchi juice slightly decreased, following a increase but decreased again. The activity of AAO in kimchi solid, progressively decreased. The cause for the slight increase of the activities of enzymes in kimchi juice after kimchi making was thought to be the extracting effects from kimchi solid. The disappearance of all enzyme activities in fermentation was due to the decrease of pH and the inactivation of enzymes owing to prolongation of fermentation. The cause of increase of PG activity in late fermentation, may be the proliferation of aerobic organisms.

• Korean Journal of Health Education and Promotion
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• v.19 no.2
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• pp.57-72
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• 2002

Students spend most of their time in school. Schools have the possibility of unanticipated accidents, however, and the rate of accidents in schools is increasing. The purpose of this study were to understand the accidents that arise in schools as well as the school safety management system and by analyzing affects that school safety management system has on accidents in schools, to come lip with a preventive plan. 906 high school sophomore students attending in Seoul were surveyed 1Tom November 12th to 23rd 2001. The results were following: 1. Students surveyed comprised of the following: Male 48.9%, Female 51.1% Public Schools 32.6%, Private Schools 67.4% Boys Schools 48.9%, Girls Schools 51.1% 2. In the past year, male students had more accidents(p〈.05) in school. 3. In examining students safety management control, 94.0% said that, there is an infirmary, there is a clear distinction between the playing fields and pathways(74.8%), and the chemicals in the labs are kept in a safe manner(77.2%). The above items were generally well maintained. However, the following recorded low scores. There are warning signs in hazardous places and facilities(30.5%), There is guiding principle to examine the safeness on a regular basis(24.9%), and There are slogans and posters preventing accidents(40.3%). 4. In examining the facilities of the schools that were surveyed, the majority answered, yes to the following. There are hazardous facilities or materials at school(62.9%), There are sharp edges in educational supplies and equipment(59.8%), There are nails or other components that are sticking out of desks and chairs(75.9%), There are slippery spots in the corridors and classrooms(69.3%), There are stones, scrap metal, broken glass, and trash on the playing fields(66.6%). Furthermore, the students surveyed said, yes to the following although in low percentages. The amount of sand on the playing fields is sufficient(49.1%), The soccer and basket goal posts are fastened (53.7%), There are safety bars on the windows of classrooms and corridors (27.4%), There are safety mats on the entrance to restrooms preventing slips (14.2%), The stairs have slip protection measures(49.1%). 5. In analyzing the affect that the school safety management system has on accidents in school, schools that had slogans and posters preventing accidents had a 50% less chance of accidents(p〈.05), schools with chemicals and equipment in the labs that were safely maintained had an 80% less probability of accidents(p〈.0l), and the schools that had sharp edges in the educational supplies and equipment had an 80% greater chance of accidents(p〈.01).

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.273-277
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• 2003

A general process of electronic assembly is composed of a series of geometric alignments and bonding/screwing processes. After assembly, the function is tested in a following process of inspection. However, assembly of micro-optic devices requires both processes to be performed in equipment. Coarse geometric alignment is made by using vision and optical function is improved by the following fine motion based on feedback of tunable laser interferometer. The general system is composed of a precision robot system for 3D assembly, a 3D vision guided system for geometric alignment and an optical feedback system with a tunable laser. In this study, we propose a new fast alignment algorithm of micro-optic devices for both of visual and optical alignments. The main goal is to find a fastest alignment process and algorithms with state-of-the-art technology. We propose a new approach with an optimal sequence of processes, a visual alignment algorithm and a search algorithm for an optimal optical alignment. A system is designed to show the effectiveness and efficiency of the proposed method.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.3 s.147
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• pp.362-374
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• 2006

Currently, all design information of a hull structure is being first defined on 2D drawings not 3D CAD model at the initial ship design stage and then transferred to following design stages through the 2D drawings. This is caused by the past design practice, limitation on time, and lack of hull structural CAD systems supporting the initial design stage. As a result, the following design tasks such as the process planning and scheduling are being manually performed using the 2D drawings. For solving this problem, a data structure supporting the initial design stage is proposed and a prototype system is developed based on the data structure. The applicability of the system is demonstrated by applying it to various examples. The results show that the system can be effectively used for generating the 3D CAD model of the hull structure at the initial design stage.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.10
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• pp.23-33
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• 2012

This paper is a study on precise point positioning using global navigation satellite system. This paper studies inherent barriers of global navigation satellite system such as increase in shadowed areas and positioning errors when signals cannot be received due to various environmental factors. It analyzes performance of various receivers, changes in number of satellite and DOP(Dilution of Precision) following changes in environment such as center of a road, side of a road, residential area, high building, and alleys. It also studies changes in positioning error. The objective of this study lies on understanding the range of positioning error following changes in environment and the cause of error, and enhancing the reliability and safety of the global navigation satellite system.

• Journal of Korea Multimedia Society
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• v.18 no.3
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• pp.387-400
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• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.